From 339aef5ad2cbc67e7bd6e8b968fe9e373c4654e8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 3 May 2008 13:33:08 +0200 Subject: * digital/asserv/src/asserv: - added better blocking detection. --- digital/asserv/src/asserv/main.c | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) (limited to 'digital/asserv/src/asserv/main.c') diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index 2ea3d95d..228426d6 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -577,8 +577,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) case c ('D', 3): pos_d_sat = v8_to_v16 (args[1], args[2]); break; - case c ('b', 3): - pos_blocked = v8_to_v16 (args[1], args[2]); + case c ('b', 7): + pos_blocked_error_limit = v8_to_v16 (args[1], args[2]); + pos_blocked_speed_limit = v8_to_v16 (args[3], args[4]); + pos_blocked_counter_limit = v8_to_v16 (args[5], args[6]); break; case c ('e', 5): traj_eps = v8_to_v16 (args[1], args[2]); @@ -619,7 +621,9 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) proto_send1w ('E', pos_e_sat); proto_send1w ('I', pos_i_sat); proto_send1w ('D', pos_d_sat); - proto_send1w ('b', pos_blocked); + proto_send3w ('b', pos_blocked_error_limit, + pos_blocked_speed_limit, + pos_blocked_counter_limit); proto_send2w ('e', traj_eps, traj_aeps); proto_send1w ('l', traj_angle_limit); proto_send1b ('w', pwm_reverse); -- cgit v1.2.3